#include "brush_model.h"
using namespace auto_ros::control;
int main()
{
	auto_ros::common_tool::double_map parm = {{"mu", 1.0}, {"c_alpha", 96000}};
	BrushModel tire_model(parm);
	auto_ros::common_tool::double_map input = {{"alpha_rad", 0.1}, {"fz", 4800.0}};
	std::cout << tire_model.calc_fy(input) << std::endl;
	input["alpha_rad"] = 0.0;
	std::cout << "alpha_rad is:" << input["alpha_rad"] << std::endl;
	std::cout << tire_model.calc_dyn_c_alpha(input) << std::endl;
	std::cout << tire_model.calc_static_c_alpha(input) << std::endl;
	input["alpha_rad"] = 0.3;
	std::cout << "alpha_rad is:" << input["alpha_rad"] << std::endl;
	std::cout << tire_model.calc_dyn_c_alpha(input) << std::endl;
	std::cout << tire_model.calc_static_c_alpha(input) << std::endl;
	input["alpha_rad"] = -0.1;
	std::cout << "alpha_rad is:" << input["alpha_rad"] << std::endl;
	std::cout << tire_model.calc_dyn_c_alpha(input) << std::endl;
	std::cout << tire_model.calc_static_c_alpha(input) << std::endl;
	input["alpha_rad"] = -0.3;
	std::cout << "alpha_rad is:" << input["alpha_rad"] << std::endl;
	std::cout << tire_model.calc_dyn_c_alpha(input) << std::endl;
	std::cout << tire_model.calc_static_c_alpha(input) << std::endl;

	input["alpha_rad"] = 0.3;
	std::cout << "alpha_rad is:" << input["alpha_rad"] << std::endl;
	std::cout << tire_model.calc_dyn_c_alpha(input) << std::endl;
	std::cout << tire_model.calc_static_c_alpha(input) << std::endl;
}